Pretty sure AI/robots will just replace us eventually and be our ““offspring””.
If not, and we don’t return to monkey either, you’re going to see rapid speciation thanks to genetic engineering.
People will probably use different bodies like driving different cars, like Altered Carbon, but more like Man After Man.
You have a body for swimming, a body for hiking, a body for doing the naughty, etc… “you” will either be a brain in a jar or just a chip or just a virtual “soul”, slipping in and out of bodies. And some people will wear bodies like fashion, with new trends every year etc…
Perhaps you’ll see people inhabiting these bodies full time, living “normal” human lives, with their entire families being the same. Like a mermaid village or something. And you’ll see many such communities living simple or even primitive lives, but with completely alien bodies.
And I’m pretty sure 99.999% of humanity will be completely unrecognizable within just a few hundred years. But I’m guessing some regular old homo sapiens will always stick around, unless some fanatic intentionally wipes them out. But that’s kind if hard if you can hide the information necessary to reconstruct all of humanity on a USB stick.